package cz.cuni.amis.pogamut.ut2004.agent.navigation.astar;
   
   import java.util.Collection;
   
   import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
   import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
   import cz.cuni.amis.utils.astar.AStarGoal;
   
   public abstract class UT2004AStarGoal implements AStarGoal<NavPoint> {
  
  	protected Collection<NavPoint> closeList;
  	
  	protected Collection<NavPoint> openList;
  	
  	@Override
  	public void setCloseList(Collection<NavPoint> closeList) {
  		this.closeList = closeList;
  	}
  
  	@Override
  	public void setOpenList(Collection<NavPoint> openList) {
  		this.openList = openList;
  	}
  
  	public Collection<NavPoint> getCloseList() {
  		return closeList;
  	}
  
  	public Collection<NavPoint> getOpenList() {
  		return openList;
  	}
  
  	/**
  	 * Method defining extra-edge cost, see {@link AStarGoal#getExtraCost(Object, Object)}. You probably won't need to use that, thus
  	 * it is not abstract.
  	 * <p><p>
  	 * Returns: always 0
  	 */
  	@Override
  	public int getExtraCost(NavPoint nodeFrom, NavPoint nodeTo) {
  		return 0;
  	}
  
  	/**
  	 * Method defining which nodes are allowed to be explored and which are forbidden, see {@link AStarGoal#isNodeOpened(Object)}. You probably
  	 * won't need to use that, thus it is not abstract.
  	 * <p><p>
  	 * Returns: always 0
  	 */
  	@Override
  	public boolean isNodeOpened(NavPoint node) {
  		return true;
  	}
  
  	/**
  	 * Method defining "heuristic" for A*, see {@link AStarGoal#getEstimatedDistanceToGoal(Object)}. You will usually want to return
  	 * Euclidian distance between 'node' and your goal using {@link NavPoint#getLocation()} and {@link Location#getDistance(Location)}.
  	 * See also {@link UT2004AStarGoalNavPoint}. 
  	 * 
  	 * @param node
  	 */
  	@Override
  	public abstract int getEstimatedDistanceToGoal(NavPoint node);
  	
  	/**
  	 * This tests whether 'actualNode' matches your desired 'goalNode'. You will usually use "==" to do that as every NavPoint
  	 * is "sort-of" singleton for single agent (note that every agent has different one, so you might want to equals their ids via  {@link NavPoint#getId()}).
  	 * 
  	 * @param actualNode
  	 */
  	@Override
  	public abstract boolean isGoalReached(NavPoint actualNode);
  	
  }